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United States Patent | 5,752,207 |
Sarangapani | May 12, 1998 |
A method and apparatus for automatically determining and modeling a path between a route and a final position is provided. An initial position on the route and a set of path equations between the initial position and the final position are determined. A set of path data points is computed using the set of path equations and the path as defined by the path data points is modeled. The curvature of the path at each point is determined using the model and validated against a reference curvature.
Inventors: | Sarangapani; Jagannathan (Peoria, IL) |
Assignee: | Caterpillar Inc. (Peoria, IL) |
Appl. No.: | 536761 |
Filed: | September 29, 1995 |
Current U.S. Class: | 701/26; 701/210 |
Intern'l Class: | G06F 017/00 |
Field of Search: | 364/424.027,424.028,424.029,424.031,443,444.1,444.2,449.3,449.4 701/23,24,25,26,200,201,202,209,210 |
4727492 | Feb., 1988 | Reeve et al. | 364/424. |
4817000 | Mar., 1989 | Eberhardt | 364/443. |
4939650 | Jul., 1990 | Nishikawa | 364/424. |
5109340 | Apr., 1992 | Kanayama | 364/424. |
Foreign Patent Documents | |||
0394517 | Oct., 1990 | EP. | |
2276452 | Sep., 1994 | GB. | |
2294136 | Apr., 1996 | GB. |
Robotica (1994) vol. 12, pp. 52., "Path Planning and Control of a Mobile Base with Nonholonomic constraints" by Jagannathan,Zhu, & Lewis. |